集成虚拟装配环境中的多约束导航技术研究

CONSTRAINTS NAVIGATION IN INTEGRATED VIRTUAL ASSEMBLY ENVIRONMENT

提出一种基于增量驱动和归约原理的多约束导航解算方法,该方法采用FOB的相对位姿变化量来驱动虚拟手、基于归约原理求解多约束运动导航,并将此方法应用于集成虚拟装配系统(IVAE)。实例表明,该方法能有效地处理FOB与虚拟手的位姿分离以及多约束作用下的运动导航问题。

A new method to resolve constraints navigation based on incremental driving and principle of merging freedoms is presented. According to the method, locations increment and orientations increment of FOB are used to drive virtual tools, and then the constraints are resolved based on principle of merging freedoms. The method is used in integrated virtual assembly environment, IVAE. The test results in IVAE showe that the method can solve the problem of driving virtual tools, and can commendably meet the need of the real time display and interaction real-time in virtual environment.